TY - GEN
T1 - Optimizing the parameters of tilting surfaces in robotic workcells
AU - Wan, Weiwei
AU - Cheung, Earnest C. H.
AU - Pan, Jia
AU - Harada, Kensuke
PY - 2015/10/7
Y1 - 2015/10/7
N2 - Pick-and-place regrasp is an important grasp and manipulation skill for a robot to rearrange the world around it. This paper discusses how to design a tilted work surface for robotic workcells so that the robot inside the cell can improve its pick-and-place regrasps. In particular, the workcell design is guided by two heuristics, which simultaneously increase the number of stable placements of the objects to be grasped and the gripper's manipulability. We leverage regression techniques to compute a continuous function for fitting the multiplication of these two heuristics, and then maximize the fitted function for optimizing the parameters of tilted surfaces in a workcell. Experiments on using tilted surfaces to improve the stability and manipulability of various objects validate our approach.
AB - Pick-and-place regrasp is an important grasp and manipulation skill for a robot to rearrange the world around it. This paper discusses how to design a tilted work surface for robotic workcells so that the robot inside the cell can improve its pick-and-place regrasps. In particular, the workcell design is guided by two heuristics, which simultaneously increase the number of stable placements of the objects to be grasped and the gripper's manipulability. We leverage regression techniques to compute a continuous function for fitting the multiplication of these two heuristics, and then maximize the fitted function for optimizing the parameters of tilted surfaces in a workcell. Experiments on using tilted surfaces to improve the stability and manipulability of various objects validate our approach.
UR - http://www.scopus.com/inward/record.url?scp=84952779027&partnerID=8YFLogxK
UR - https://www.scopus.com/record/pubmetrics.uri?eid=2-s2.0-84952779027&origin=recordpage
U2 - 10.1109/CoASE.2015.7294143
DO - 10.1109/CoASE.2015.7294143
M3 - RGC 32 - Refereed conference paper (with host publication)
SN - 9781467381833
VL - 2015-October
SP - 593
EP - 599
BT - IEEE International Conference on Automation Science and Engineering
PB - IEEE Computer Society
T2 - 11th IEEE International Conference on Automation Science and Engineering (CASE 2015)
Y2 - 24 August 2015 through 28 August 2015
ER -